Structural Analysis 3 & 3A

Third Year Civil

CVG311 & CVS311

Lecture No. 2
Plane Trusses

Dr. Mohamed A Azim Nour

A Spring Problem
P  d
k P P = kd
k is constant
k
k = Spring Stiffness
k

d
10/16/2018 2
Notations

k
Pi i j Pj

di dj

+ve X-direction

Two degrees of freedom (di and dj)

10/16/2018 3
A Spring Stiffness Matrix
Pi k Pj

di

k di k k di

+ve X-direction

Due to a positive displacement di at node i, the

developed forces at i and j are:
Pi = k di
Pj = - k di
10/16/2018 4
A Spring Stiffness Matrix
Pi k Pj

dj
k dj k k dj

+ve X-direction

And due to a positive displacement dj at node j,

the developed forces at i and j are:
Pi = - k dj
Pj = k dj
10/16/2018 5
A Spring Stiffness Matrix

By applying both of di and dj, the developed

forces at i and j are:
Pi = k di - k dj
Pj = - k di + k dj
In matrix form, it is written as:

 Pi   1  1  d i 
   k   
Pj   1 1  d j 
or P = k d
10/16/2018 6
A Spring Stiffness Matrix
Then, the spring stiffness matrix k is:
k  k  1  1
 k   k 
 k    1 1  Two
degrees of
freedom
(2 x 2)
The stiffness matrix k is defined as the force
due to unit displacements
10/16/2018 7
Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d 1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).

The variable correlation table, VCT, is constructed as:

The spring number Starting d Ending d (0)

k (1)
1 0 1 P2

The spring stiffness matrix is

1 2
0 1
0 k -k
1 -k k X

10/16/2018 8
Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d 1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).

The variable correlation table, VCT, is constructed as:

The spring number Starting d Ending d (0)

k (1)
1 0 1 P2

The spring stiffness matrix is

1 2
0 1
0 k -k
1 -k k X

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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d 1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).

The variable correlation table, VCT, is constructed as:

The spring number Starting d Ending d (0)

k (1)
1 0 1 P2

The spring stiffness matrix is

1 2
0 1
0 k -k
1 -k k X

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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d 1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).

The variable correlation table, VCT, is constructed as:

The spring number Starting d Ending d (0)

k (1)
1 0 1 P2

The spring stiffness matrix is

1 2
0 1
0 k -k
1 -k k X

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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).

The variable correlation table, VCT, is constructed as:

(0) (1)
k
The spring number Starting d Ending d P2
1 0 1

The spring stiffness matrix is 1 2

0 1
0 k -k X
1 -k k

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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).

The variable correlation table, VCT, is constructed as:

The spring number Starting d Ending d (0)

k (1)
1 0 1 P2

The spring stiffness matrix is

1 2
0 1
0 k -k
1 -k k X

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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).

The variable correlation table, VCT, is constructed as:

The spring number Starting d Ending d (0)

k (1)
1 0 1 P2

The spring stiffness matrix is

1 2
0 1
0 k -k
1 -k k X

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Example 1: A Single Degree of
Freedom System
The nodes are numbered 1 and 2. The probable displacements at nodes are coded with
numbers. If the displacement equals zero, it is coded with 0. If the displacement has a
value, it is coded with numbers, starting from 1. The displacement at node 1 (d1) equals
zero. It is coded with 0, however, the displacement at node 2 (d2) has an unknown value.
It is coded with 1. This is formatted in a table called the variable correlation table (VCT).

The variable correlation table, VCT, is constructed as:

The spring number Starting d Ending d (0)

k (1)
1 0 1 P2

The spring stiffness matrix is

1 2
0 1
0 k -k
1 -k k X

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Example 1: A Single Degree of
Freedom System
The governing equation of the system is P = k d:
0 1
P1 = 0 k -k d1=0
P2=P 1 -k k d2

Rows or columns corresponding to code 0 of displacement are omitted, notice the italic
numbers. In this example, row 1 and column 1 are deleted.
Then
P  kd 2

or
1
d 2  P  k 1 P
k
The same value as before.

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Example 1: A Single Degree of
Freedom System
The governing equation of the system is P = k d:
0 1
P1 = 0 k -k d1=0
P2=P 1 -k k d2

Rows or columns corresponding to code 0 of displacement are omitted, notice the italic
numbers. In this example, row 1 and column 1 are deleted.
Then
P  kd 2

or
1
d 2  P  k 1 P
k
The same value as before.

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Example 1: A Single Degree of
Freedom System
The governing equation of the system is P = k d:
0 1
P1 = 0 k -k d1=0
P2=P 1 -k k d2

Rows or columns corresponding to code 0 of displacement are omitted, notice the italic
numbers. In this example, row 1 and column 1 are deleted.
Then
P  kd 2

or
1
d 2  P  k 1 P
k
The same value as before.

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Example 2: Two Degrees of
Freedom System
? ? ?
k1=2k P k2=k 2P

1 2 3
X

Extra spring with stiffness 2k is added to the previous

example, as shown in figure. Two concentrated loads
are applied at nodes 2 and 3. It is required the values of
the horizontal displacements at nods 2 and 3.
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Example 2: Two Degrees of
Freedom System
(0) (1) (2)
k1=2k P k2=k 2P

1 2 3
X

Extra spring with stiffness 2k is added to the previous

example, as shown in figure. Two concentrated loads
are applied at nodes 2 and 3. It is required the values of
the horizontal displacements at nods 2 and 3.
10/16/2018 20
Example 2: Two Degrees of
Freedom System

VCT is constructed as:

The spring number Starting d Ending d

1 0 1
2 1 2

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Example 2: Two Degrees of
Freedom System
Element Stiffness matrix:

Spring 1:
0 1 (0) (1) (2)
k1=2k k2=k
0 2k -2k P 2P
1 -2k 2k

Spring 2: 1 2 3
1 2
1 k -k
2 -k k X

The global stiffness matrix kg of the whole system is 2x2. Because the system has two
unknown displacements at nodes 2 and 3, which are coded 1 and 2.

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Example 2: Two Degrees of
Freedom System
Element Stiffness matrix:

Spring 1:
0 1 (0) (1) (2)
k1=2k k2=k
0 2k -2k P 2P
1 -2k 2k

Spring 2: 1 2 3
1 2
1 k -k
2 -k k X

The global stiffness matrix kg of the whole system is 2x2. Because the system has two
unknown displacements at nodes 2 and 3, which are coded 1 and 2.

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Example 2: Two Degrees of
Freedom System
Element Stiffness matrix:

Spring 1:
0 1 (0) (1) (2)
k1=2k k2=k
0 2k -2k P 2P
1 -2k 2k

Spring 2: 1 2 3
1 2
1 k -k
2 -k k X

The global stiffness matrix kg of the whole system is 2x2. Because the system has two
unknown displacements at nodes 2 and 3, which are coded 1 and 2.

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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.

Global Stiffness Matrix:

Spring 1:
1 2
0 1
1 2k+k -k
0 2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2

1 k -k
2 -k k

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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.

Global Stiffness Matrix:

Spring 1:
0 1
1 2

0
1 2k+k -k
2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2

1 k -k
2 -k k

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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.

Global Stiffness Matrix:

Spring 1:
0 1
1 2

0
1 2k+k -k
2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2

1 k -k
2 -k k

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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.

Global Stiffness Matrix:

Spring 1:
0 1
1 2

0
1 2k+k -k
2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2

1 k -k
2 -k k

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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.

Global Stiffness Matrix:

Spring 1:
0 1
1 2

0
1 2k+k -k
2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2

1 k -k
2 -k k

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Example 2: Two Degrees of
Freedom System
The global stiffness matrix is constructed by adding the two
individual spring stiffnesses as shown in figure.

Global Stiffness Matrix:

Spring 1:
0 1
1 2

0
1 2k+k -k
2k -2k
2 -k k Spring 2:
1 -2k 2k
1 2

1 k -k
2 -k k

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Example 2: Two Degrees of
Freedom System
Then the global stiffness matrix kg of the system is:

1 2
1 3k -k
2 -k k

Load vector P contains any applied loads at unknown displacement nodes:

1 P
2 2P

Solving for displacements d = kg-1 P

1 1.5 P/k
2 3.5 P/k

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Example 2: Two Degrees of
Freedom System
Then the global stiffness matrix kg of the system is:

1 2
1 3k -k
2 -k k

Load vector P contains any applied loads at unknown displacement nodes:

1 P
2 2P

Solving for displacements d = kg-1 P

1 1.5 P/k
2 3.5 P/k

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Example 2: Two Degrees of
Freedom System
Then the global stiffness matrix kg of the system is:

1 2
1 3k -k
2 -k k

Load vector P contains any applied loads at unknown displacement nodes:

1 P
2 2P

Solving for displacements d = kg-1 P

1 1.5 P/k
2 3.5 P/k

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Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1

Spring 1:

P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension
Tension

Spring 2:

P2 =k 1 -1 1 1.5 P/k = -2P

-1 1 2 3.5 P/k 2P Tension
Tension

10/16/2018 34
Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1

Spring 1:

P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension
Tension

Spring 2:

P2 =k 1 -1 1 1.5 P/k = -2P

-1 1 2 3.5 P/k 2P Tension
Tension

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Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1

Spring 1:

P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension
Tension

Spring 2:

P2 =k 1 -1 1 1.5 P/k = -2P

-1 1 2 3.5 P/k 2P Tension
Tension

10/16/2018 36
Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1

Spring 1:

P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension

Spring 2:

P2 =k 1 -1 1 1.5 P/k = -2P

-1 1 2 3.5 P/k 2P Tension
Tension

10/16/2018 37
Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1

Spring 1:

P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension

Spring 2:

P2 =k 1 -1 1 1.5 P/k = -2P

-1 1 2 3.5 P/k 2P Tension
Tension

10/16/2018 38
Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1

Spring 1:

P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension

Spring 2:

P2 =k 1 -1 1 1.5 P/k = -2P

-1 1 2 3.5 P/k 2P Tension
Tension

10/16/2018 39
Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1

Spring 1:

P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension

Spring 2:

P2 =k 1 -1 1 1.5 P/k = -2P

-1 1 2 3.5 P/k 2P Tension
Tension

10/16/2018 40
Example 2: Two Degrees of
Freedom System
Internal forces: P1 = k1 d1

Spring 1:

P1 =k 2 -2 0 0 = -3P
-2 2 1 1.5 P/k 3P Tension

Spring 2:

P2 =k 1 -1 1 1.5 P/k = -2P

-1 1 2 3.5 P/k 2P Tension

10/16/2018 41
Example 2: Two Degrees of
Freedom System
3P 3P 2P 2P

Spring 1 Spring 2

The structure (global) stiffness matrix, kg, is

symmetrical (kij=kji). Its main diagonal coefficients kii
are positive numbers greater than zero.

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Displacement Method of
Structural Analysis
 Trusses
– Plane Trusses (Two Dimensional Trusses)
– Space Trusses (Three Dimensional Trusses)
 Beams
 Frames (Two Dimensional Plane Frames)
 Advanced Topics

10/16/2018 43
 Load Vector
?
Kg ?
Plane Trusses
?, ?

x P= d
z
?, ?
z
?, ? ?, 0
x
0, 0 2
z
1 3 ?, 0
P = d 0, 0

P = Kg d x

? k ?
0, 0 ?, 0

10/16/2018 44
 Load Vector

Kg ?
Plane Trusses
?, ?

x P= d
z
?, ?
z
?, 0
x
0, 0

P = d

? k ?
0, 0 ?, 0

10/16/2018 45
 Load Vector

Plane Trusses Kg ?

?, ?

x P= d
z
?, ?
z
?, 0
x
0, 0

P = d

? k ?
0, 0 ?, 0

10/16/2018 46
Plane Trusses
L= Length
E,A A= Cross Sectional Area
P

L E= Young’s Modulus

E,A P  d
E =Stress/Strain = /
E,A
E= (P/A)/(d/L)
E,A E= (PL)/(Ad)
then P = (EA/L) d
d
10/16/2018 47
Notations

Fi i E,A,L j Fj

ui uj

+ve X-direction

Two degrees of freedom system ui , uj

10/16/2018 48
A Plane Truss Stiffness Matrix
E,A,L
Fi
ui
Fj =
E,A,L
EA/L ui EA/L ui
+ve X-direction

Due to a positive displacement ui at node i, the developed

forces at i and j are:
Fi = (EA/L) ui
Fj = - (EA/L) ui
10/16/2018 49
A Plane Truss Stiffness Matrix
E,A,L
Fj
uj
Fi =
EA/L uj E,A,L EA/L uj

+ve X-direction

Due to a positive displacement uj at node j, the developed

forces at i and j are:
Fi = - (EA/L) uj
Fj = (EA/L) uj
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A Plane Truss Stiffness Matrix
By applying both of ui and uj, the developed
forces at i and j are:
Fi = (EA/L) ui - (EA/L) uj
Fj = - (EA/L) ui + (EA/L) uj

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A Plane Truss Stiffness Matrix
By applying both of ui and uj, the developed
forces at i and j are:
Fi = (EA/L) ui - (EA/L) uj
Fj = - (EA/L) ui + (EA/L) uj

In matrix form, it is written as:

 Fi  EA  1  1  ui 
     
F j  L  1 1  u j 
or P = k d

10/16/2018 52
A Plane Truss Stiffness Matrix
E,A,L
Fi
1
Fj =
E,A,L
EA/L EA/L
+ve X-direction

Due to a positive unit displacement at node i, the developed

forces at i and j are:
Fi = (EA/L)
Fj = - (EA/L)
10/16/2018 53
A Plane Truss Stiffness Matrix
EA/L

-EA/L

Due to a positive unit displacement at node i, the developed

forces at i and j are:{EA/L, -EA/L}

These values represent the first column of the

plane truss stiffness matrix.

10/16/2018 54
A Plane Truss Stiffness Matrix
E,A,L
Fj
1
Fi =
EA/L E,A,L EA/L

+ve X-direction

Due to a positive unit displacement at node j, the

developed forces at i and j are:
Fi = - (EA/L)
Fj = (EA/L)
10/16/2018 55
A Plane Truss Stiffness Matrix
- EA/L

EA/L

Due to a positive unit displacement at node j, the developed

forces at i and j are :{-EA/L, EA/L}

These values represent the second column of

the plane truss stiffness matrix.

10/16/2018 56
A Plane Truss Stiffness Matrix
EA/L - EA/L 1 -1
k= = EA/L
- EA/L EA/L -1 1

 Fi  EA  1  1  ui 
and      
F j  L  1 1  u j 

or P=k d

10/16/2018 57
Local Coordinate System
~
X
~
~ Fj
Z
j

E,A,L u~ j
i
~
Fi
u~i

10/16/2018 58
Stiffness - Local Coordinate
System
~  EA / L  EA / L EA  1  1
k    1 1 
  EA / L EA / L  L  
~ ~

 i
F  EA  1  1  ui 
and F~   L  1 1  u~  or ~ ~~
P kd

 j    j

The truss element behaves similarly as the spring whose

EA
axial stiffness k
L

10/16/2018 59
Local/Global Coordinate System

Local

Z, w

Global X, u

10/16/2018 60
Local/Global Coordinate System

Z,
w

X,
u
10/16/2018 61
Local/Global Coordinate System

Z,
w

X, u

10/16/2018 62
Local/Global Coordinate System

Z,
w

X,
u
10/16/2018 63
Local/Global Coordinate System

Z,
w

X, u

10/16/2018 64
Global Coordinate System
~
F jz X
~
Z, w Fj
j
~ F jx
Z E,A,L
z
i
Fix x
~
Fi Fiz
 X ,u

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A Plane Truss Stiffness Matrix

10/16/2018 66
A Plane Truss Stiffness Matrix

10/16/2018 67
A Plane Truss Stiffness Matrix

10/16/2018 68
A Plane Truss Stiffness Matrix

10/16/2018 69
A Plane Truss Stiffness Matrix

10/16/2018 70
A Plane Truss Stiffness Matrix

10/16/2018 71
Stiffness Matrix - Global
Coordinate System

 c2 sc  c 2  sc
 2
EA  sc s 2
 sc  s 
k
L  c 2  sc c 2 sc 
 2 
  sc  s s 
2
sc

The plane truss stiffness matrix in global

coordinate system
10/16/2018 72
Stiffness Matrix - Global
Coordinate System
In general

 Fix   c2 sc  c 2  sc  ui 
F   2  
 iz  EA  sc s 2
 sc  s   i
w
    
F 
 jx  L  c  sc c
2 2 
sc  u j 
 F jz  2 
 sc  s
2
sc s  w j 

10/16/2018 73
Summary

10/16/2018 74
DOF for Plane Truss Structures
Degrees of Freedom (DOF)
3

4 12

5
12
10/16/2018 75